TWI648696B - Battery management method - Google Patents
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- TWI648696B TWI648696B TW106126752A TW106126752A TWI648696B TW I648696 B TWI648696 B TW I648696B TW 106126752 A TW106126752 A TW 106126752A TW 106126752 A TW106126752 A TW 106126752A TW I648696 B TWI648696 B TW I648696B
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- 238000007726 management method Methods 0.000 title claims abstract description 30
- 238000001514 detection method Methods 0.000 claims description 20
- 238000010586 diagram Methods 0.000 description 20
- 238000004891 communication Methods 0.000 description 15
- 238000012545 processing Methods 0.000 description 10
- 238000000034 method Methods 0.000 description 6
- 239000003990 capacitor Substances 0.000 description 4
- 238000012546 transfer Methods 0.000 description 4
- 238000007599 discharging Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/36—Arrangements using end-cell switching
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- H02J7/0022—
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Abstract
一種電池管理方法，主要是先偵測一第一電池與一第二電池之電量，並將電量較高者定義為一高電量電池，另一者定義為一低電量電池，然後控制高電量電池的放電速度低於低電量電池。然後在偵測到低電量電池之電量低於警示電量值時，判斷一指令執行時間差距是否大於一判斷時距，若是，控制模組發送一電池更換需求訊號至一電池交換站，以判斷是否有一充電完成電池，若是，通知自動化搬運裝置允許交換電池，使自動化搬運裝置移動至電池交換站，藉以將低電量電池與充電完成電池進行交換。 A battery management method, which mainly detects the power of a first battery and a second battery, and defines the higher battery as a high battery, and the other as a low battery, and then controls the high battery The discharge rate is lower than that of low-battery batteries. Then, when it is detected that the power of the low-battery battery is lower than the warning power value, it is determined whether a command execution time gap is greater than a judgment time interval. If so, the control module sends a battery replacement request signal to a battery exchange station to determine whether There is a fully-charged battery. If so, the automatic handling device is notified to allow the battery to be exchanged, and the automated handling device is moved to the battery exchange station to exchange the low-power battery with the fully-charged battery.
Description
本發明是關於一種電池管理方法，尤其是指一種應用於自動化搬運裝置之電池管理方法。 The invention relates to a battery management method, in particular to a battery management method applied to an automated handling device.
近年來由於3C產業的蓬勃發展，且民眾對於3C產品的操作方式也越來越純熟，因此有越來越多的人會選擇透過網路購買各種大大小小的商品，導致物流產業所需處理的貨物量逐年增加。 In recent years, due to the vigorous development of the 3C industry, and the people's operation methods of 3C products are becoming more and more proficient, more and more people will choose to purchase various large and small products through the Internet, leading to the processing required by the logistics industry. The volume of goods has increased year by year.
一般來說，物流中心為了處理大量的貨物，大都是利用自動搬運裝置來有效率的將各類貨物進行分類，而為了確保自動搬運裝置能夠持續的運作，現有的自動搬運裝置通常是設有一顆電池與一不斷電系統，藉以在電池沒電時利用不斷電系統進行供電，避免自動搬運裝置因電力不足而停止運作，甚至無法回到充電站進行充電。 In general, in order to handle a large amount of goods, most of the logistics centers use automatic conveying devices to efficiently classify various types of goods. To ensure that the automatic conveying devices can continue to operate, the existing automatic conveying devices are usually equipped with a The battery and an uninterruptible power system, so as to use the uninterruptible power system to supply power when the battery is out of power, to prevent the automatic handling device from stopping due to insufficient power, and even unable to return to the charging station for charging.
承上所述，雖然現有的自動搬運裝置可以透過不斷電系統在電池沒電時提供電力，但儘管如此，電池仍需回充電站進行充電，然而在電池進行充電的過程中，自動搬運裝置並無法執行工作，相對的降低了工 作效率。 As mentioned above, although the existing automatic handling device can provide power when the battery is out of power through a continuous power system, the battery still needs to be returned to the charging station for charging. However, during the battery charging process, the automatic handling device And unable to perform the work, relatively reducing the work Work efficiency.
有鑑於在現有的技術中，一般常見的自動搬運裝置都是利用不斷電系統在電池沒電時緊急進行供電，以使自動搬運裝置可以繼續執行搬運工作，或者回到充電站進行充電，但由於自動搬運裝置之電池始終需要進行充電，而當自動搬運裝置充電時，便無法執行搬運工作，因此會相對的影響到整體的工作效率；緣此，本發明的目的在於提供一種電池管理方法，可以有效的解決先前技術中，自動搬運裝置因電池充電而無法工作的問題。 It is considered that in the existing technology, the common automatic conveying devices generally use the uninterruptible power system to provide emergency power supply when the battery is dead, so that the automatic conveying device can continue to perform the conveying work or return to the charging station for charging, but Because the battery of the automatic handling device always needs to be charged, and the automatic handling device cannot be charged when it is charged, it will relatively affect the overall work efficiency; therefore, the object of the present invention is to provide a battery management method. It can effectively solve the problem that in the prior art, the automatic handling device cannot work due to battery charging.
為了達到上述目的，本發明提供了一種電池管理方法，係應用於一自動化搬運裝置，該自動化搬運裝置預先裝設有一第一電池與一第二電池，且在一初始運作狀態下，該第一電池與該第二電池之電量值皆大於一警示電量值，該電池管理方法包含以下步驟： In order to achieve the above object, the present invention provides a battery management method, which is applied to an automatic handling device. The automatic handling device is pre-installed with a first battery and a second battery. Both the battery and the second battery have a power value greater than a warning power value. The battery management method includes the following steps:
步驟(a)是利用一電量偵測模組偵測該第一電池與該第二電池之電量，並將該第一電池與該第二電池中之電量較高者定義為一高電量電池，並將另一者定義為一低電量電池。 Step (a) is to use a power detection module to detect the power of the first battery and the second battery, and define the higher power of the first battery and the second battery as a high power battery, And define the other as a low battery.
步驟(b)是利用一控制模組控制該高電量電池以一第一放電速度放電，並控制該低電量電池以一大於該第一放電速度之第二放電速度放電。 Step (b) uses a control module to control the high-capacity battery to discharge at a first discharge rate, and control the low-capacity battery to discharge at a second discharge rate that is greater than the first discharge rate.
步驟(c)是利用該電量偵測模組偵測持續 偵測該低電量電池之電量，並在偵測到該低電量電池之電量低於該警示電量值時，透過該控制模組判斷一當前指令執行時間與一下次指令執行時間之一指令執行時間差距是否大於一判斷時距。 Step (c) is to use the power detection module to detect continuous Detecting the power of the low-battery battery, and when detecting that the power of the low-battery battery is lower than the warning power value, the control module determines a command execution time of a current command execution time and a next command execution time Determine whether the gap is greater than one time interval.
步驟(d)是當指令執行時間差距大於該判斷時距時，該控制模組發送一電池更換需求訊號至至少一電池交換站。 Step (d) is when the difference between the execution time of the instructions is greater than the judgment time interval, the control module sends a battery replacement request signal to at least one battery exchange station.
步驟(e)是該至少一電池交換站利用一充電模組判斷複數個待更換電池中之一者是否為一充電完成電池。 Step (e) is that the at least one battery exchange station uses a charging module to determine whether one of the plurality of batteries to be replaced is a fully charged battery.
步驟(f)是當該些待更換電池中之一者為該充電完成電池，該至少一電池交換站發送一允許更換電池訊號至該自動化搬運裝置。 Step (f) is when one of the batteries to be replaced completes the charging of the battery, the at least one battery exchange station sends a signal allowing the battery to be replaced to the automated handling device.
步驟(g)是當該自動化搬運裝置收到該允許更換電池訊號時，該控制模組控制一驅動模組帶動該自動化搬運裝置移動至該至少一電池交換站，藉以將該低電量電池與該充電完成電池進行交換。 Step (g) is when the automatic handling device receives the signal for permitting battery replacement, the control module controls a drive module to drive the automatic handling device to move to the at least one battery exchange station, so as to exchange the low-power battery with the After charging, the battery is exchanged.
較佳者，在步驟(f)中，當該些待更換電池中之任一者皆非該充電完成電池時，接著步驟(f1)：該至少一電池交換站發送一無充電完成電池訊號至該自動化搬運裝置，使該自動化搬運裝置利用該電量偵測模組持續偵測該高電量電池之電量，並在偵測到該高電量電池之電量低於該警示電量值時，透過該控制模組判斷該當前指令執行時間與另一下次指令執行時間之該指令執行時間差距是否大於該判斷時距。 Preferably, in step (f), when any one of the batteries to be replaced is not the fully charged battery, then step (f1): the at least one battery exchange station sends a non-charged complete battery signal to The automatic handling device enables the automatic handling device to continuously detect the power of the high-battery battery using the power detection module, and when the power of the high-battery battery is detected to be lower than the warning power value, the control mode is used. The group determines whether the difference between the execution time of the current instruction execution time and the execution time of the next instruction is greater than the judgment time interval.
此外，當步驟(f1)之該指令執行時間差距大於該判斷時距時，接著步驟(f2)：該控制模組發送另一電池更換需求訊號至該至少一電池交換站。 In addition, when the instruction execution time difference in step (f1) is greater than the judgment time interval, then step (f2): the control module sends another battery replacement request signal to the at least one battery exchange station.
在步驟(f2)之後，更接著步驟(f3)：該至少一電池交換站利用該充電模組判斷該些待更換電池中是否包含該充電完成電池。 After step (f2), and then step (f3): the at least one battery exchange station uses the charging module to determine whether the batteries to be replaced include the charging completed battery.
在步驟(f3)之後，更接著步驟(f4)：當該充電模組判斷該些待更換電池中包含該充電完成電池時，接著判斷該些待更換電池中之該充電完成電池是否為二個以上。 After step (f3), and then step (f4): When the charging module determines that the batteries to be replaced include the charging completed battery, it then determines whether there are two charging completed batteries in the batteries to be replaced. the above.
在步驟(f4)之後，當判斷該些待更換電池中之該充電完成電池為二個以上時，利用該電池更換模組將該高電量電池與該低電量電池分別更換為該充電完成電池。此外，當判斷該些待更換電池中之該充電完成電池並非二個以上時，利用該電池更換模組將該低電量電池更換為該充電完成電池。 After step (f4), when it is judged that there are two or more charging complete batteries among the batteries to be replaced, the battery replacement module is used to replace the high-charge battery and the low-charge battery with the charge-complete battery respectively. In addition, when it is determined that the charging complete batteries among the batteries to be replaced are not two or more, the battery replacement module is used to replace the low-power battery with the charging complete battery.
另一方面，在步驟(f3)之後，當該充電模組判斷該些待更換電池中未包含該充電完成電池時，控制該自動化搬運裝置移動至該至少一電池交換站等待該些待交換電池中之任一者轉變為該充電完成電池後，再利用該電池更換模組將該低電量電池更換為該充電完成電池。 On the other hand, after the step (f3), when the charging module determines that the batteries to be replaced do not include the charged battery, it controls the automated handling device to move to the at least one battery exchange station to wait for the batteries to be exchanged. After any one of them is converted into the charging complete battery, the low-battery battery is replaced with the charging complete battery by using the battery replacement module.
此外，當步驟(f1)之該高電量電池之電量高於該警示電量值時，該自動化搬運裝置依據一工作排程進行搬運工作，並利用該電量偵測模組偵測持續偵測 該高電量電池之電量；並且，當步驟(f1)之該指令執行時間差距小於該判斷時距時，該自動化搬運裝置依據一工作排程進行搬運工作，並利用該電量偵測模組偵測持續偵測該高電量電池之電量。 In addition, when the electric quantity of the high-battery battery in step (f1) is higher than the warning electric quantity value, the automatic handling device performs a carrying work according to a work schedule, and uses the electricity detection module to detect continuous detection. The amount of power of the high-battery battery; and when the difference between the execution time of the instruction in step (f1) is less than the judgement time interval, the automatic handling device performs the moving work according to a work schedule and uses the power detection module to detect The power of the high-battery battery is continuously detected.
如上所述，由於本發明所提供之電池管理方法是先控制第一電池與第二電池中電量較高者的放電速度低於電量較低者，以使低電量者可以更快的放完電，然後再低電量電池的電量低於警示電量值時，詢問電池交換站是否有已充電完成之電池，進而供自動化搬運裝置之低電量電池進行交換，因此可有效的使自動化搬運裝置可以長時間保有電力，進而使自動化搬運裝置能持續的執行搬運工作。 As mentioned above, because the battery management method provided by the present invention is to first control the discharge rate of the higher battery between the first battery and the second battery to be lower than the lower battery, so that the lower battery can discharge the battery faster. , And then when the low-battery battery is lower than the warning power value, ask the battery exchange station if there is a charged battery, and then for the low-battery battery of the automatic handling device to exchange, so it can effectively make the automatic handling device for a long time The power is maintained, so that the automated handling device can continuously perform the carrying work.
100‧‧‧電池管理系統 100‧‧‧ Battery Management System
1‧‧‧自動化搬運裝置 1‧‧‧Automatic handling device
11‧‧‧驅動模組 11‧‧‧Driver Module
12‧‧‧供電模組 12‧‧‧ Power Supply Module
121‧‧‧第一電池 121‧‧‧ first battery
122‧‧‧第二電池 122‧‧‧ secondary battery
123‧‧‧輸出控制電路 123‧‧‧Output control circuit
1231‧‧‧第一切換電路 1231‧‧‧first switching circuit
12311‧‧‧第一緩衝電路 12311‧‧‧First buffer circuit
123111‧‧‧第一緩衝元件 123111‧‧‧First cushioning element
12312‧‧‧第一直通電路 12312‧‧‧The first through circuit
12313‧‧‧第一切換開關 12313‧‧‧The first switch
1232‧‧‧第二切換電路 1232‧‧‧Second switching circuit
12321‧‧‧第二緩衝電路 12321‧‧‧Second buffer circuit
123211‧‧‧第二緩衝元件 123211‧‧‧Second cushioning element
12322‧‧‧第二直通電路 12322‧‧‧Second pass-through circuit
12323‧‧‧第二切換開關 12323‧‧‧Second switch
13‧‧‧電量偵測模組 13‧‧‧ Battery Detection Module
14‧‧‧切換模組 14‧‧‧Switch Module
141‧‧‧儲存單元 141‧‧‧Storage unit
142‧‧‧計時單元 142‧‧‧ timing unit
143‧‧‧處理單元 143‧‧‧Processing unit
15‧‧‧控制模組 15‧‧‧control module
16‧‧‧搬運裝置通訊模組 16‧‧‧Handling device communication module
2‧‧‧中心主機 2‧‧‧ center host
3‧‧‧電池交換站 3‧‧‧ Battery Exchange Station
31‧‧‧充電模組 31‧‧‧Charging module
311a‧‧‧充電完成電池 311a‧‧‧Charged battery
311b‧‧‧充電未完成電池 311b‧‧‧Charging unfinished battery
312‧‧‧充電控制電路 312‧‧‧Charge control circuit
32‧‧‧交換站通訊模組 32‧‧‧Exchange Station Communication Module
33‧‧‧處理模組 33‧‧‧Processing Module
34‧‧‧電池更換模組 34‧‧‧ Battery Replacement Module
S1‧‧‧電池電量訊號 S1‧‧‧Battery level signal
S2‧‧‧電池控制訊號 S2‧‧‧Battery control signal
S3‧‧‧電池更換需求訊號 S3‧‧‧ Battery replacement signal
S4‧‧‧位置訊號 S4‧‧‧Location signal
R1‧‧‧電池交換區 R1‧‧‧Battery exchange area
R2‧‧‧工作區 R2‧‧‧Working area
第一圖係顯示本發明所提供之電池管理系統之系統示意圖；第二圖係顯示供電模組之電路示意圖。 The first diagram is a schematic diagram of a battery management system provided by the present invention; the second diagram is a schematic diagram of a circuit of a power supply module.
第三圖、第三A圖與第三B圖為本發明之電池管理方法之步驟流程圖；以及第四圖係顯示本發明之自動化搬運裝置、中心主機與電池交換站之相對位置關係示意圖。 The third diagram, the third A diagram, and the third B diagram are flowcharts of the steps of the battery management method of the present invention; and the fourth diagram is a schematic diagram showing the relative positional relationship of the automatic handling device, the central host, and the battery exchange station of the present invention.
下面將結合示意圖對本發明的具體實施 方式進行更詳細的描述。根據下列描述和申請專利範圍，本發明的優點和特徵將更清楚。需說明的是，圖式均採用非常簡化的形式且均使用非精準的比例，僅用以方便、明晰地輔助說明本發明實施例的目的。 The specific implementation of the present invention will be described below with reference to the schematic diagram. The way is described in more detail. The advantages and features of the invention will become clearer from the following description and the scope of the patent application. It should be noted that the drawings are all in a very simplified form and all use inaccurate proportions, which are only used to facilitate and clearly explain the purpose of the embodiments of the present invention.
請參閱第一圖，第一圖係顯示本發明所提供之電池管理系統之系統示意圖。如圖所示，一種電池管理系統100包含一自動化搬運裝置1、一中心主機2以及複數個電池交換站3(圖中僅以一個舉例說明)。 Please refer to the first diagram, which is a schematic diagram showing a system of a battery management system provided by the present invention. As shown in the figure, a battery management system 100 includes an automatic handling device 1, a central host 2 and a plurality of battery exchange stations 3 (the figure is only illustrated by an example).
自動化搬運裝置1包含一驅動模組11、一供電模組12、一電量偵測模組13、一控制模組14、一定位模組15以及一搬運裝置通訊模組16。 The automatic handling device 1 includes a driving module 11, a power supply module 12, a power detection module 13, a control module 14, a positioning module 15, and a handling device communication module 16.
驅動模組11係用以帶動整個自動化搬運裝置1移動，且驅動模組11例如是由馬達與滾輪等元件所組成。 The driving module 11 is used to drive the entire automatic handling device 1 to move, and the driving module 11 is composed of, for example, a motor and a roller.
供電模組12係電性連接於驅動模組11，用以供電至驅動模組11，以使驅動模組11運作；其中，供電模組12包含一第一電池121、一第二電池122與一輸出控制電路123。 The power supply module 12 is electrically connected to the drive module 11 for supplying power to the drive module 11 to make the drive module 11 operate. The power supply module 12 includes a first battery 121, a second battery 122, and An output control circuit 123.
請繼續參閱第二圖，第二圖係顯示供電模組之電路示意圖。如圖所示，第一電池121與第二電池122是並聯地電性連接於驅動模組11，而輸出控制電路123是設置於第一電池121、第二電池122與驅動模組11之間；其中，輸出控制電路123包含一第一切換電路1231與一第二切換電路1232。 Please continue to refer to the second figure, which is a schematic diagram showing the circuit of the power supply module. As shown in the figure, the first battery 121 and the second battery 122 are electrically connected in parallel to the driving module 11, and the output control circuit 123 is disposed between the first battery 121, the second battery 122 and the driving module 11. Wherein, the output control circuit 123 includes a first switching circuit 1231 and a second switching circuit 1232.
第一切換電路1231係電性連接於第一電 池121與驅動模組11，且第一切換電路1231包含一第一緩衝電路12311、一第一直通電路12312與一第一切換開關12313，第一緩衝電路12311與第一直通電路12312是分別電性連接於驅動模組11，而第一切換開關12313是選擇性的將第一緩衝電路12311與第一直通電路12312中之一者電性連接於第一電池121，且第一緩衝電路12311設有一第一緩衝元件123111，第一緩衝元件123111為電感，但在其他實施例中亦可為電容或電容與電感之組合。其中，第一電池121經由第一緩衝電路12311供電至驅動模組11之放電速度會比第一電池121經由第一直通電路12312供電至驅動模組11之放電速度慢。 The first switching circuit 1231 is electrically connected to the first electrical circuit. The pool 121 and the driving module 11, and the first switching circuit 1231 includes a first buffer circuit 12311, a first through circuit 12312, and a first switch 12313. The first buffer circuit 12311 and the first through circuit 12312 are They are electrically connected to the driving module 11 respectively, and the first switch 12313 selectively electrically connects one of the first buffer circuit 12311 and the first through circuit 12312 to the first battery 121, and the first buffer The circuit 12311 is provided with a first buffer element 123111. The first buffer element 123111 is an inductor, but in other embodiments, it may be a capacitor or a combination of a capacitor and an inductor. The discharging speed of the first battery 121 supplied to the driving module 11 through the first buffer circuit 12311 is slower than the discharging speed of the first battery 121 supplying power to the driving module 11 through the first through circuit 12312.
第二切換電路1232係電性連接於第二電池122與驅動模組11，且第二切換電路1232包含一第二緩衝電路12321、一第二直通電路12322與一第二切換開關12323，第二緩衝電路12321與第二直通電路12322是分別電性連接於驅動模組11，而第二切換開關12323是選擇性的將第二緩衝電路12321與第二直通電路12322中之一者電性連接於第二電池122，且第二緩衝電路12321設有一第二緩衝元件123211，第二緩衝元件123211為電感，但在其他實施例中亦可為電容或電容與電感之組合。其中，第二電池122經由第一緩衝電路12311供電至驅動模組11之放電速度會比第一電池121經由第一直通電路12312供電至驅動模組11之放電速度慢。 The second switching circuit 1232 is electrically connected to the second battery 122 and the driving module 11. The second switching circuit 1232 includes a second buffer circuit 12321, a second pass-through circuit 12322, and a second switching switch 12323. The second The buffer circuit 12321 and the second pass-through circuit 12322 are electrically connected to the driving module 11 respectively, and the second switch 12323 selectively electrically connects one of the second buffer circuit 12321 and the second pass-through circuit 12322 to The second battery 122 and the second buffer circuit 12321 are provided with a second buffer element 123211. The second buffer element 123211 is an inductor, but in other embodiments, it may be a capacitor or a combination of a capacitor and an inductor. Among them, the discharge speed of the second battery 122 supplying power to the driving module 11 via the first buffer circuit 12311 will be slower than the discharging speed of the first battery 121 supplying power to the driving module 11 via the first through circuit 12312.
電量偵測模組13係電性連接於供電模組12，用以偵測第一電池121與第二電池122之電量而產生 一對應於第一電池121之第一電池電量值與一對應於第二電池122之第二電池電量值，並將一載有第一電池電量值與第二電池電量值之電池電量訊號S1傳送出。 The power detection module 13 is electrically connected to the power supply module 12 and is used to detect the power of the first battery 121 and the second battery 122. A first battery power value corresponding to the first battery 121 and a second battery power value corresponding to the second battery 122, and transmitting a battery power signal S1 carrying the first battery power value and the second battery power value Out.
控制模組14係電性連接於電量偵測模組13與供電模組12，用以接收電量偵測模組13所發送之電池電量訊號S1，且控制模組14包含一儲存單元141、一計時單元142以及一處理單元143。 The control module 14 is electrically connected to the power detection module 13 and the power supply module 12 to receive the battery power signal S1 sent by the power detection module 13. The control module 14 includes a storage unit 141, a The timing unit 142 and a processing unit 143.
儲存單元141儲存有一警示電量值與複數個電池交換站座標，而本實施例中之警示電量值為10%。計時單元142是用來計時。處理單元143是依據第一電池121與第二電池122之電量控制第一電池121與第二電池122中之一低電量者進入一直接供電模式，並控制第一電池121與第二電池122中之一高電量者進入一緩衝供電模式；其中，控制模組14是由第一電池電量值與第二電池電量值得知第一電池121與第二電池122之電量大小，並據以發送出一電池控制訊號S2至供電模組12，使輸出控制電路123依據電池控制訊號S2控制第一電池121與第二電池122中之低電量者進入直接供電模式，而高電量者進入緩衝供電模式。 The storage unit 141 stores a warning power value and a plurality of battery exchange station coordinates, and the warning power value in this embodiment is 10%. The timing unit 142 is used for timing. The processing unit 143 controls one of the first battery 121 and the second battery 122 to enter a direct power supply mode according to the power of the first battery 121 and the second battery 122, and controls the first battery 121 and the second battery 122. One of the high power users enters a buffered power supply mode. Among them, the control module 14 is based on the first battery power value and the second battery power value to know the power levels of the first battery 121 and the second battery 122, and sends a The battery control signal S2 to the power supply module 12 enables the output control circuit 123 to control the low-power persons in the first battery 121 and the second battery 122 to enter the direct power supply mode and the high-power persons to enter the buffer power supply mode according to the battery control signal S2.
在實務運用上，當第一電池121為低電量，而第二電池122為高電量時，輸出控制電路123是控制第一電池121以第一直通電路12312電性連接於驅動模組11，並控制第二電池122以第二緩衝電路12321電性連接於驅動模組11；相對的，當第一電池121為高電量，而第二電池122為低電量時，輸出控制電路123則是控制第 一電池121以第一緩衝電路12311電性連接於驅動模組11，並控制第二電池122以第一直通電路12322電性連接於驅動模組11。 In practice, when the first battery 121 is low and the second battery 122 is high, the output control circuit 123 controls the first battery 121 to be electrically connected to the drive module 11 through the first through circuit 12312. And control the second battery 122 to be electrically connected to the drive module 11 through a second buffer circuit 12321; in contrast, when the first battery 121 is high and the second battery 122 is low, the output control circuit 123 controls First A battery 121 is electrically connected to the driving module 11 through a first buffer circuit 12311, and controls the second battery 122 to be electrically connected to the driving module 11 through a first through circuit 12322.
此外，處理單元143更在電量偵測模組13偵測到第一電池121與第二電池122中之至少一者之電量低於儲存單元141所儲存之警示電量值時，產生一電池更換需求訊號S3。 In addition, the processing unit 143 generates a battery replacement demand when the power detection module 13 detects that the power of at least one of the first battery 121 and the second battery 122 is lower than the warning power value stored in the storage unit 141. Signal S3.
定位模組15是電性連結於控制模組14，用以定位出一位置座標，並將一載有位置座標之位置訊號S4傳送至控制模組14。在實際運用上，定位模組15例如為室內定位組件。 The positioning module 15 is electrically connected to the control module 14 for positioning a position coordinate and transmitting a position signal S4 carrying the position coordinate to the control module 14. In practice, the positioning module 15 is, for example, an indoor positioning component.
搬運裝置通訊模組16係電性連接於控制模組14，用以將控制模組14所產生之電池更換需求訊號S3發送出。其中，搬運裝置通訊模組16例如為WIFI模組或其他無線通訊模組。 The handling device communication module 16 is electrically connected to the control module 14 and is used to send a battery replacement request signal S3 generated by the control module 14. The communication device communication module 16 is, for example, a WIFI module or other wireless communication module.
中心主機2是通訊連結於搬運裝置通訊模組16。在實務運用上，中心主機2是用來安排並發送工作排程至各個自動化搬運裝置1，以使各自動化搬運裝置1依據工作排程進行搬運工作。在實務上，中心主機2例如為遠端的伺服器，且電性連接於網路，藉以使搬運裝置通訊模組16透過網路連線到中心主機2。 The central host 2 is communicatively connected to the communication module 16 of the carrying device. In practical use, the central host 2 is used to arrange and send work schedules to each automated conveying device 1 so that each automated conveying device 1 performs the conveying work according to the work schedule. In practice, the central host 2 is, for example, a remote server and is electrically connected to the network, so that the communication module 16 of the handling device is connected to the central host 2 through the network.
電池交換站3包含一充電模組31、一交換站通訊模組32、一處理模組33以及一電池更換模組34。充電模組31係設有複數個待交換電池(在本實施例中為一充電完成電池311a與一充電未完成電池311b)與一充 電控制電路312；其中，充電控制電路312是用來對待交換電池進行充電，並同時偵測待交換電池是否已充完電，當待交換電池已完充電時，便停止對待交換電池進行充電，而在本實施例中，充電完成電池311a為已經充完電的待交換電池，而充電未完成電池311b則是尚未完成充電的待交換電池。 The battery exchange station 3 includes a charging module 31, an exchange station communication module 32, a processing module 33, and a battery replacement module 34. The charging module 31 is provided with a plurality of batteries to be exchanged (in this embodiment, a charging completed battery 311a and a charging uncompleted battery 311b) and a charging The electric control circuit 312 is used to charge the battery to be exchanged and detect whether the battery to be exchanged is fully charged. When the battery to be exchanged has been charged, it stops charging the battery to be exchanged. In this embodiment, the charged battery 311a is a battery to be exchanged that has been fully charged, and the uncharged battery 311b is a battery to be exchanged that has not yet been charged.
交換站通訊模組32係通訊連結於中心主機2，以經由中心主機2通訊連結於搬運裝置通訊模組16，進而透過中心主機2接收電池更換需求訊號S3。 The exchange station communication module 32 is communicatively connected to the central host computer 2 so as to be communicatively connected to the handling device communication module 16 via the central host computer 2 and further receives the battery replacement request signal S3 through the central host computer 2.
處理模組33係電性連接於充電模組31與交換站通訊模組32，以依據電池更換需求訊號S3詢問充電模組31所包含之多個待交換電池中是否有至少一者已完成充電，並在確認多個待交換電池中之至少一者已完成充電時，透過交換站通訊模組32發送一可更換訊號透過中心主機2傳送至搬運裝置通訊模組16，以使控制模組14依據位置訊號S4所載有之位置座標與儲存單元141所預先儲存之交換站位置座標計算出行進路線，以驅使驅動模組11運作而使自動化搬運裝置1移動至電池交換站3。 The processing module 33 is electrically connected to the charging module 31 and the exchange station communication module 32, so as to inquire whether at least one of the plurality of batteries to be exchanged included in the charging module 31 has been charged according to the battery replacement request signal S3. When confirming that at least one of the plurality of batteries to be exchanged has been charged, a replaceable signal is sent through the exchange station communication module 32 and transmitted to the handling device communication module 16 through the central host 2 so that the control module 14 The travel route is calculated according to the position coordinates carried in the position signal S4 and the exchange station position coordinates stored in advance by the storage unit 141, so as to drive the driving module 11 to operate and move the automatic handling device 1 to the battery exchange station 3.
電池更換模組34是在處理模組33判斷自動化搬運裝置1移動至電池交換站3時，受到處理模組33之控制而將第一電池121與第二電池122中之低電量者與充電完成電池311a進行交換。 When the battery replacement module 34 determines that the automatic handling device 1 moves to the battery exchange station 3 by the processing module 33, it is controlled by the processing module 33 to charge the low battery in the first battery 121 and the second battery 122 and complete the charging. The battery 311a is exchanged.
請繼續參閱第三圖、第三A圖與第三B圖，第三圖、第三A圖與第三B圖為本發明之電池管理方 法之步驟流程圖。如圖所示，一種電池管理方法係應用於上述之自動化搬運裝置1，自動化搬運裝置1預先裝設有第一電池121與第二電池122，且在一初始運作狀態下，第一電池121與第二電池122之電量值皆大於警示電量值，電池管理方法包含以下步驟： Please continue to refer to the third diagram, the third A diagram, and the third B diagram. The third diagram, the third A diagram, and the third B diagram are battery management methods of the present invention. Flow chart of method steps. As shown in the figure, a battery management method is applied to the above-mentioned automated handling device 1. The automated handling device 1 is pre-installed with a first battery 121 and a second battery 122. In an initial operating state, the first battery 121 and The power value of the second battery 122 is greater than the warning power value. The battery management method includes the following steps:
步驟S1是利用電量偵測模組13偵測第一電池121與第二電池122之電量，並將第一電池121與第二電池122中之電量較高者定義為一高電量電池，並將另一者定義為一低電量電池。 Step S1 is to use the power detection module 13 to detect the power of the first battery 121 and the second battery 122, and define the higher power of the first battery 121 and the second battery 122 as a high power battery, and The other is defined as a low battery.
步驟S2是利用控制模組14控制高電量電池以第一放電速度放電，並控制低電量電池以大於第一放電速度之第二放電速度放電。藉以避免高電量電池與低電量電池之間的電量差距逐漸縮減。 In step S2, the control module 14 is used to control the high-capacity battery to discharge at a first discharge rate, and control the low-capacity battery to discharge at a second discharge rate greater than the first discharge rate. In order to avoid the power gap between high-battery and low-battery batteries gradually narrowing.
步驟S3是自動化搬運裝置1依據工作排程進行搬運作業，且電量偵測模組13持續偵測低電量電池之電量。 In step S3, the automatic handling device 1 performs the handling operation according to the work schedule, and the power detection module 13 continuously detects the power of the low-power battery.
步驟S4是判斷低電量電池之電量是否低於警示電量值。當偵測到低電量電池之電量低於警示電量值時，執行步驟S5，透過控制模組14判斷當前指令執行時間與下次指令執行時間之指令執行時間差距是否大於判斷時距。此外，當低電量電池之電量高於警示電量值時，回到步驟S3繼續執行搬運指令。 Step S4 is to determine whether the power of the low-power battery is lower than the warning power value. When it is detected that the power of the low-battery battery is lower than the warning power value, step S5 is executed, and the control module 14 is used to judge whether the difference between the execution time of the current instruction execution time and the next instruction execution time is greater than the judgment time interval. In addition, when the power of the low-battery battery is higher than the warning power value, the process returns to step S3 to continue executing the carrying instruction.
當指令執行時間差距大於判斷時距時，執行步驟S6，控制模組14發送電池更換需求訊號S3至電池交換站3。然而，當指令執行時間差距小於判斷時距時， 回到步驟S3繼續執行搬運指令。 When the instruction execution time difference is greater than the judgment time interval, step S6 is executed, and the control module 14 sends a battery replacement request signal S3 to the battery exchange station 3. However, when the instruction execution time gap is smaller than the judgment time interval, Returning to step S3, the carrying instruction is continued.
步驟S7是電池交換站3利用充電模組31判斷複數個待更換電池中之一者是否為充電完成電池311a。 In step S7, the battery exchange station 3 uses the charging module 31 to determine whether one of the plurality of batteries to be replaced is the charging completed battery 311a.
當複數個待更換電池中之一者為充電完成電池311a時，執行步驟S8，電池交換站3發送允許更換電池訊號至自動化搬運裝置1。 When one of the plurality of batteries to be replaced is the battery 311a that has been charged, step S8 is performed, and the battery exchange station 3 sends a signal for allowing the battery to be replaced to the automatic handling device 1.
步驟S9是當自動化搬運裝置1收到允許更換電池訊號時，控制模組14控制驅動模組11帶動自動化搬運裝置1移動至電池交換站3。 In step S9, when the automatic handling device 1 receives a signal for allowing battery replacement, the control module 14 controls the driving module 11 to drive the automatic handling device 1 to move to the battery exchange station 3.
步驟S10是當自動化搬運裝置1移動至電池交換站3時，電池交換站3利用電池更換模組34將低電量電池與充電完成電池311a進行交換。 In step S10, when the automatic handling device 1 is moved to the battery exchange station 3, the battery exchange station 3 uses the battery replacement module 34 to exchange the low-capacity battery with the charging completed battery 311a.
此外，回到上述步驟7之後，當複數個待更換電池中皆未有充電完成電池311a時，執行步驟S11，電池交換站3發送無充電完成電池訊號置自動搬運裝置1。 In addition, after returning to step 7 above, when none of the plurality of batteries to be replaced has a charged battery 311a, step S11 is performed, and the battery exchange station 3 sends a signal indicating that the battery has not been charged to the automatic handling device 1.
接著步驟S11，步驟S12是自動化搬運裝置1依據工作排程進行搬運作業，且電量偵測模組13偵測高電量電池之電量。 Then, step S11 and step S12 are carried out by the automatic handling device 1 according to the work schedule, and the power detection module 13 detects the power of the high-power battery.
接著步驟S12，步驟S13是判斷高電量電池之電量是否低於警示電量值。 Following step S12, step S13 is to determine whether the power of the high-power battery is lower than the warning power value.
當判斷高電量電池之電量低於警示電量值時，步驟S14是透過控制模組14判斷當前指令執行時間與另一下次指令執行時間之指令執行時間差距是否大 於判斷時距。然而，當判斷高電量電池之電量高於警示電量值時，回到步驟S12繼續執行搬運作業。 When it is determined that the power of the high-battery battery is lower than the warning power value, step S14 is to determine, through the control module 14, whether the difference between the execution time of the current instruction and the execution time of the next instruction is large. When judging the time interval. However, when it is determined that the power of the high-power battery is higher than the warning power value, the process returns to step S12 to continue the carrying operation.
當步驟S14之指令執行時間差距大於判斷時距時，執行步驟S15，控制模組14發送電池更換需求訊號S3至電池交換站3。另外，當步驟S14之指令執行時間差距小於判斷時距時，回到步驟S12繼續執行搬運作業。 When the difference between the execution time of the instruction in step S14 is greater than the judgment time interval, step S15 is executed, and the control module 14 sends a battery replacement request signal S3 to the battery exchange station 3. In addition, when the difference between the execution time of the instruction in step S14 is less than the judgment time interval, the process returns to step S12 to continue the carrying operation.
接著步驟S15，步驟S16是電池交換站3利用充電模組31判斷複數個待更換電池中是否包含充電完成電池311a。若複數個待更換電池中包含充電完成電池311a，執行步驟S17，充電模組31判斷待更換電池中之充電完成電池311a是否為二個以上。若充電模組31判斷待更換電池中之充電完成電池311a為二個以上，執行步驟18，利用電池更換模組34將高電量電池與低電量電池分別更換成充電完成電池311a。 Following step S15 and step S16, the battery exchange station 3 uses the charging module 31 to determine whether the plurality of batteries to be replaced include a charged battery 311a. If the plurality of batteries to be replaced include the charging complete batteries 311a, step S17 is executed, and the charging module 31 determines whether there are two or more charging complete batteries 311a among the batteries to be replaced. If the charging module 31 determines that there are two or more charging complete batteries 311a in the battery to be replaced, step 18 is executed to use the battery replacement module 34 to replace the high-capacity battery and the low-capacity battery with the charging complete battery 311a, respectively.
另一方面，在上述之步驟S16之後，若複數個待更換電池中未包含充電完成電池311a，執行步驟S19，控制自動化搬運裝置1移動至電池交換站3等待待交換電池中之任一者轉變為充電完成電池311a後，再利用電池更換模組34將低電量電池更換為充電完成電池311a。 On the other hand, after the above-mentioned step S16, if the plurality of batteries to be replaced does not include the charging completed battery 311a, step S19 is executed to control the automatic handling device 1 to move to the battery exchange station 3 and wait for any of the batteries to be exchanged to change After the battery 311a is completed for charging, the battery replacement module 34 is used to replace the low-power battery with the charging completed battery 311a.
此外，在上述步驟S17之後，若充電模組31判斷待更換電池中之充電完成電池311a並非為二個以上，即表示充電完成電池311a為一個時，執行步驟20，利用電池更換模組34將低電量電池更換為充電完成電池 311a。 In addition, after the above step S17, if the charging module 31 judges that there are not more than two charging complete batteries 311a in the battery to be replaced, that is to say that there is one charging complete battery 311a, it proceeds to step 20 and uses the battery replacement module 34 to Replace the low battery with a fully charged battery 311a.
如上所述，本發明之電池管理方法主要是對自動化搬運裝置1所設有之第一電池121與第二電池122進行控制，使電量較低者的放電速度快於電量較高者，藉以有效避免第一電池121或第二電池122的電量過於接近。然後當第一電池121或第二電池122其中至少一者之電量低於警示電量值時，再通知電池交換站3需要更換低電量電池。然而當電池交換站3未有充電完成電池31時，則偵測電量較高之高電量電池是否低於警示電量值，進而在高電量電池之電量低於警示電量值時，使自動化搬運裝置1自動至電池交換站3更換低電量電池與高電量電池。 As mentioned above, the battery management method of the present invention is mainly to control the first battery 121 and the second battery 122 provided in the automatic conveying device 1 so that the discharge speed of the lower battery is faster than the higher battery, thereby effectively Avoid excessively close charge of the first battery 121 or the second battery 122. Then, when the power of at least one of the first battery 121 or the second battery 122 is lower than the warning power value, the battery exchange station 3 is notified that the low-battery battery needs to be replaced. However, when the battery exchange station 3 has not finished charging the battery 31, it detects whether the high-capacity high-battery battery is lower than the warning power value, and then enables the automatic handling device 1 when the high-power battery power is lower than the warning power value. Automatically go to the battery exchange station 3 to replace the low battery and high battery.
請繼續參閱第四圖，第四圖係顯示本發明之自動化搬運裝置、中心主機與電池交換站之相對位置關係示意圖。如圖所示，在實際運用上，三個電池交換站3(圖中僅標示一個)則是設置於一電池交換區R1內，而三個自動化搬運裝置1(圖中僅標示一個)是位在一工作區R2內。此外，中心主機2是電性連接於自動化搬運裝置1與電池交換站3。 Please continue to refer to the fourth figure, which is a schematic diagram showing the relative positional relationship between the automatic handling device, the central host and the battery exchange station of the present invention. As shown in the figure, in actual use, three battery exchange stations 3 (only one is shown in the figure) are arranged in a battery exchange area R1, and three automatic handling devices 1 (only one is shown in the figure) are in place. Within a work area R2. In addition, the central host 2 is electrically connected to the automatic transfer device 1 and the battery exchange station 3.
承上所述，當自動化搬運裝置1偵測到低電量電池或高電量電池低於警示電量值時，自動化搬運裝置1是發送電池更換需求訊號S3至中心主機2，而中心主機2會再將電池更換需求訊號S3發送至電池交換站3，然而當多個電池交換站3皆回傳有充電完成電池311a時，中心主機2更可依據自動化搬運裝置1之位置與每個 電池交換站3之位置，以將距離自動化搬運裝置1最近且具有充電完成電池311a之電池交換站3之資訊回傳至自動化搬運裝置1，以使自動化搬運裝置1可以移動至最近的電池交換站2進行電池交換。此外，在其他實施例中，自動化搬運裝置1亦可直接通訊連接於電池交換站3，而不需要透過中心主機2進行集中管理。 According to the above description, when the automatic handling device 1 detects that the low-level battery or the high-level battery is lower than the warning level, the automatic handling device 1 sends a battery replacement request signal S3 to the center host 2, and the center host 2 will then The battery replacement request signal S3 is sent to the battery exchange station 3. However, when multiple battery exchange stations 3 return a charged battery 311a, the central host 2 can further respond to the location of the automatic handling device 1 and each The position of the battery exchange station 3 is to return the information of the battery exchange station 3 closest to the automated transfer device 1 and having the charged battery 311a to the automated transfer device 1 so that the automated transfer device 1 can move to the nearest battery exchange station 2 Perform battery exchange. In addition, in other embodiments, the automatic handling device 1 may also be directly connected to the battery exchange station 3 without the need for centralized management through the central host 2.
綜上所述，由於先前技術中之自動搬運裝置都是利用不斷電系統在電池沒電時緊急進行供電，以使自動搬運裝置可以繼續執行搬運工作，或者回到充電站進行充電，因此當自動搬運裝置充電時，便無法執行搬運工作，相對的影響到整體的工作效率；相較於此，由於本發明所提供之電池管理方法是先控制第一電池與第二電池中電量較高者的放電速度低於電量較低者，以使低電量者可以更快的放完電，然後再低電量電池的電量低於警示電量值時，詢問電池交換站是否有已充電完成之電池，進而供自動化搬運裝置之低電量電池進行交換，因此可有效的使自動化搬運裝置可以長時間保有電力，進而使自動化搬運裝置能持續的執行搬運工作。 To sum up, since the automatic handling devices in the prior art all use the uninterruptible power supply system to provide emergency power when the battery runs out, so that the automatic handling device can continue to carry out the work or return to the charging station for charging, so when When the automatic conveying device is charged, it cannot perform the conveying work, which relatively affects the overall work efficiency. Compared to this, the battery management method provided by the present invention first controls the higher of the first battery and the second battery. The discharge speed is lower than the lower battery, so that the lower battery can discharge more quickly, and then when the battery capacity of the low battery is lower than the warning battery value, ask the battery exchange station whether there is a charged battery, and then The low-power battery of the automatic conveying device is exchanged, so the automatic conveying device can effectively keep the power for a long time, and then the automatic conveying device can continuously perform the conveying work.
上述僅為本發明較佳之實施例而已，並不對本發明進行任何限制。任何所屬技術領域的技術人員，在不脫離本發明的技術手段的範圍內，對本發明揭露的技術手段和技術內容做任何形式的等同替換或修改等變動，均屬未脫離本發明的技術手段的內容，仍屬於本發明的保護範圍之內。 The above are only preferred embodiments of the present invention, and do not limit the present invention in any way. Any person skilled in the art, without departing from the technical means of the present invention, make any equivalent replacement or modification to the technical means and technical contents disclosed in the present invention without departing from the technical means of the present invention. The content still falls within the protection scope of the present invention.
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